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This case involved a belted, male driver responding to a near side (left) impact with another passenger vehicle with side 'curtain' air bag deployment. |
This crash occurred at the three-leg intersection of a five-lane, divided, north/south roadway and a three-lane roadway adjoining from the west. The north/south road consisted of two lanes of travel for each direction (and a designated left turn lane for northbound traffic) separated by a painted median. There was an uphill grade and sweeping left curve for southbound traffic. The adjoining east/west road consisted of a single lane for travel in each direction with a designated left turn lane (for northbound travel) separated by painted double yellow lines. This roadway consisted of a hillcrest just prior to its conjunction with the intersection. The weather was clear and both bituminous roadways were dry during the afternoon, daylight weekday crash. |
The case vehicle (V1, 2004 Chrysler Pacifica, 4-door, 6-passenger SUV) was traveling eastbound on the three-lane road and had come to a stop in the left turn lane, at the stop limit line, intending to turn left. V1 was equipped with lap and shoulder belts, driver and passenger frontal impact air bags, side impact curtain bags and a knee bolster air bag. The 56-year-old, male driver (subject occupant) and the (unspecified age) female front right seat passenger were both using the belt restraints. |
The opposing vehicle (V2, 2002 Ford Focus, 4-door sedan) was traveling southbound in the number two lane (left, inside) at a police reported (estimated based on statement) 85 kmph as it approached the intersection with the intention of proceeding straight through it. The sole occupant (driver) of V2 was reported as having been belted. |
V1 pulled into the intersection steering into a left turn as V2 entered the intersection. The front of V2 struck the left side of V1. V1's side impact curtain bag, and knee bolster bag deployed. The impact caused both vehicles to rotate counterclockwise during which V1's right rear tire lost its bead, deflated and the wheel rim gouged the road. V1 was pushed off of the eastside of the five-lane (N/S) roadway and came to rest on its wheels facing back toward the west, the direction from which it had come. V2 separated from V1 during the rotation and began tracking north, out of control, opposite the direction it had come from. V2 continued in a long arc that took it across the roadway and off of the west side where it came to rest down an embankment. |
Both vehicles were towed due to disabling damage. The driver of V1 (subject occupant) was transported to a trauma facility due to 'complaint of pain' as rated by police. The additional occupant of V1 was also transported with 'complaint of pain' injuries. The driver of V2 was transported with 'other visible injuries' as rated by police. |
This case involved an unbelted, male, driver responding to a frontal impact with a wooden utility pole and air bag deployment. |
This single vehicle crash occurred on a two-lane roadway in a primarily residential area. The winding north/south roadway has a single lane for travel in each direction separated by painted double yellow lines. For northbound travel there was a sweeping left curve and a slight negative grade. The curve gave way to a straight section of roadway. The curbed roadway had no shoulders and numerous wooden utility poles line both sides. The weather was cloudy but the bituminous roadway was dry during the early morning (dark-not lit), weekend crash. |
The case vehicle (2003 Chrysler PT Cruiser, 4-door hatchback) was traveling northbound at an undetermined speed, down the slight hill and negotiating the left curve. The case vehicle was equipped with lap and shoulder belts (front pretensioners) and driver and passenger frontal impact air bags. The driver (subject/sole occupant) was not using the belt restraint. |
The physical plant of the scene and the evidence from the crash indicated that as V1 negotiated the left curve, the vehicle traveled off of the right side (east) of the roadway and into an adjoining street ("T" intersection). The driver of V1 steered left and maintained a straight trajectory back into the northbound lane, across the double yellow lines, off of the left side (west) of the roadway and struck a wooden utility pole with two steel pipes and a telephone equipment box placed in front of it. V1's frontal impact air bags deployed. The pipes and equipment box appeared to have been attached to the pole. The impact caused the pole to shear several meters above the ground while the base remained, relatively, intact. The vehicle came to rest against the pole without rotation. |
The vehicle was towed due to disabling damage. The driver was transported to a trauma facility due to 'severe' injury as rated by police. |
This case involved a belted, male driver responding to a frontal impact with a parked passenger vehicle. |
This single vehicle crash occurred on a four-lane, undivided, roadway in the midst of a curve. The east/west roadway has two lanes for travel in each direction separated by painted double yellow lines. There was parallel parking allowed along both sides of the roadway, which was bordered by curbs. For westbound travel there was a straight section of road followed by a left curve. The road was relatively level in this direction. A vehicle was parked (unoccupied) along the north curb in the curve. The weather was clear and the roadway dry during the early morning (dark - streetlights), weekend crash. |
The case vehicle (1998 Honda Civic, 4-door sedan) was traveling westbound in the number-one lane at an undetermined speed on the straight stretch of roadway. The vehicle was equipped with lap and shoulder belts in the outboard positions, and driver and passenger frontal impact air bags. The 18-year-old, male, driver (case subject) was using the belt restraint. There were two additional occupants of V1, a 17-year-old, male, front right seat passenger who was belted and an 18-year-old male, second row, left seat passenger who was not belted (seated behind driver/subject). |
Physical evidence suggests that the driver of V1 had begun to negotiate the left curve when he realized that he would not be able to complete the curve, and miss the parked vehicle ahead, at the rate of speed he was traveling. The driver locked the brakes, however, the vehicle slid into the rear of the parked vehicle with the front of the case vehicle striking the back left of the parked vehicle (1995 Chevrolet Camaro, 2-door coupe). The vehicle's frontal impact air bags deployed. The impact propelled the parked vehicle forward and to the left, with a 160-degree counterclockwise rotation, where it came to rest in the roadway facing east. The case vehicle rotated slightly counterclockwise and moved laterally into the curb with its right lower side striking the curb. The case vehicle came to rest there against the curb facing southwest. |
Both vehicles were towed due to damage. The driver (subject) was transported to a trauma facility due to 'severe' injury as rated by police. The front right seat passenger was not reported as injured while the second row, left seat passenger sustained lacerations to the top of his head but was not transported for treatment from the scene. |
The case vehicle 2001 Honda CRV, 4-door SUV was equipped with three point manual lap and shoulder belt restraints in the outboard positions. The vehicle was also equipped with frontal impact driver and passenger airbags, which did deploy. Injuries and vehicle inspection suggested that the occupant was using the belt restraint system. |
The 165 cm. (5'5 "), 78 kg. (172 lb.), 62-year-old female occupant was seated in the right front passenger seat. The bucket seat cushion was found positioned fully rearward and the seat back slightly reclined. |
As the occupant moved forward and slightly right to the 1:00 principal direction of force, her face contacted the airbag (makeup and possible skin transfer) resulting in nasal and upper and lower lip contusions. Striations of her right forehead abrasions/contusions suggested she overrode the deflating airbag and contacted a linear surface, possibly the A-pillar. In addition to causing her forehead soft tissue injuries, this may have also resulted in her C5 and C6 vertebral body fractures. A-pillar contact may have also been responsible for her right eyelid contusion and abrasion. |
The passenger heavily loaded the belt system. The driver reported trying to unbuckle the seat belt but said it was extremely tight and the first responders had to cut it in two places to extricate the patient. She probably fulcrumed over the shoulder portion of the belt and distraction and shear resulted in a T8 vertebral body fracture with complete cord transection. Additionally, she may have also leaned over the right door sill as it intruded, accentuating the flexion. The spinal fracture was responsible for complete transection of the descending thoracic aorta in the adjacent area. |
A seat belt abrasion extending from her right chest to her sternal notch (6" x 1/2") and transverse abdominal contusions were evident on autopsy. |
Belt loading probably caused her right neck muscle hemorrhage, bilateral rib fractures (left 1-5, right 2-8), right pneumothorax, sternal fracture, and multiple and extensive splenic lacerations. Her multiple liver lacerations could have been from the seat belt or possibly from her rib fractures. |
Her right arm loaded the door resulting in right upper arm contusions, a right elbow abrasion and right hand and wrist contusions. |
She sustained right hip and thigh contusions from door loading and lateral compression was possibly responsible for her right pelvic fracture (no x-rays available). However, because an x-ray is not available, axial loading is also a possibility. |
Loading the toe pan (intruded) was probably responsible for her bilateral foot contusions, right ankle contusion, right ankle dislocation, right distal tibia and fibula fractures (just above ankle joint), and left open tibial shaft fracture with laceration over medial left ankle. Intrusion of the kick panel forward of the right A-pillar may have played a role in some of the right lower leg injuries. |
Loading of the glove compartment door (intruded and deformed) resulted in bilateral knee contusions and axial loading was possibly responsible for her right femur shaft fracture, because an x-ray is not available, lateral compression from door loading is also possible. |
She also sustained right parietal, occipital and frontal scalp contusions, bilateral chest wall contusions, left hand and wrist contusions, and left lower leg contusions. |
This case involved a belted female driver responding to a frontal impact into the side of an on-coming pickup with air bag deployment. |
This crash occurred in the eastbound lanes of a four-lane, divided, interstate. There were two lanes for travel in each direction divided by a wide dirt median protected by a guardrail in the center. The eastbound lanes were straight with a negative grade. The weather was clear and the concrete roadway was dry during the nighttime (dark-not lit), weekday crash. |
The case vehicle (V1, 2003 Mitsubishi Galant, 4-door sedan) was traveling eastbound in the number-two lane (left) at a police reported (estimated) 113 kmph, down the hill. V1 was equipped with lap and shoulder belts, and driver and passenger frontal impact air bags. The driver (subject/sole occupant) was using the belt restraint. |
The opposing vehicle (V2, 2004, Chevrolet S-10, 3-door extended cab pickup) was traveling westbound in the center median on the south side of the guardrail (wrong way). V1 was occupied only by the driver, who was reported as not belted. |
There was a third vehicle (V3, 2000 Toyota Sienna, minivan) involved in the crash sequence, but it did not make contact with the case vehicle. V3 was traveling eastbound in the number-one lane, adjacent to, and slightly behind, V1 at a police reported (estimated) 101 kmph. There were two passengers in V3, both reported as belted. |
V2 was traveling the wrong way in the median and had swerved into the eastbound lanes at least once prior to the crash site. V2, traveling rapidly in the dirt median, made a steering maneuver to the left sending V2 into a counterclockwise yaw as it traveled into the eastbound lanes and into the path of V1. V2 was positioned sideways to eastbound traffic when the front of V1 struck the right rear half of V2. The impact rotated V2 clockwise and dislodged the bed from the cab. V1's air bags deployed. The impact caused V1 to rotate clockwise 160-degrees as it continued east and came to rest in the number-two lane facing southwest. V2, having separated from V1, continued into the number-one lane and the front of V3 struck the front right of V2. This impact separated the bed from the cab of V2. The front half of V2 and V3 continued southeast and came to rest on the right (south) shoulder. The bed of V2 came to rest west of the point of impact in the traffic lanes. |
All three vehicles were towed due to disabling damage. The driver of V1 (subject) was transported to a trauma facility due to 'severe' injury as rated by police. The driver of V2 was completely ejected during the crash and was transported to a trauma facility where he was pronounced fatal two hours after the crash. The driver of V3 was transported to a trauma facility due to 'other visible injury' as rated by police. The second passenger of V3 was not reported as injured. |
This case involved a belted, female driver responding to a near side (left) impact with another passenger vehicle and frontal impact air bag deployment. |
This crash occurred at the intersection of five-lane, undivided, east/west trafficway and a seven-lane, divided, north/south trafficway. The east/west roadway had two lanes for travel in each direction separated by painted double yellow lines. The north/south trafficway had two lanes for northbound travel, two designated left turn lanes and three southbound lanes divided by a raised, curbed median. Both bituminous roadways were straight and level. The intersection was controlled by tri-color traffic signals on all corners. The weather was clear and the roadways dry during the mid-morning, weekday crash. |
The case vehicle (V1, 1999 Saturn SW1 station wagon) was traveling westbound in the left turn lane on its approach to the intersection with the intention of turning left. V1 was equipped with lap and shoulder belts in the outboard positions and driver and passenger frontal impact air bags. The driver (subject/sole occupant) was using the belt restraint. |
The opposing vehicle (V2, 1999 Buick Century, 4-door sedan) was traveling northbound in the number-one (right) lane at an undetermined speed (low to moderate based on vehicle damage) on its approach to the intersection and intended to travel straight through. The driver (sole occupant) of V2 was reported as belted. |
V1 entered the intersection and began the left-turning maneuver as V2 continued straight into the intersection and the front of V2 struck the left side of V1 in the area encompassing the driver's door. V1's frontal impact air bags deployed. The impact deflected V1 to the northwest as it rotated 90-degrees counterclockwise. V1 came to rest within the intersection facing southeast. V2 rotated counterclockwise 180-degrees as its momentum carried it forward and V2 came to rest in the northbound number-one lane facing south. |
Both vehicles were towed due to disabling damage. The driver of V1 (subject) was transported to a trauma facility due to 'severe' injuries as rated by police. The driver of V2 sustained 'other visible injury' (facial abrasion to left cheek) as rated by police but was not transported. |
This case involved a belted, male driver and a belted, female front right seat passenger, responding to a left-side leading rollover sequence. This crash occurred on a one-way connector ramp between two controlled traffic ways. There were two lanes for travel with a negative grade and a right curve, as proceeding south to west. The left roadside consisted of a protected median. The right roadside (north) consisted of a paved shoulder culminating at a curb, followed by a level area of ground cover (ice plant) with a chain-link fence protecting a concrete drainage channel running parallel to the direction of the roadway. The drainage channel was approximately three-meters deep and 7 meters wide. The weather was clear and the concrete roadway dry during the early morning (dark-street lights), weekday crash. The case vehicle (V1, 2003 Chevrolet S-10 three-door pickup) was traveling south, to westbound on the connector ramp in the number-two (left) lane at a police reported (estimated) 80 kmph, down the slight grade and negotiating the right curve. V1 was equipped with lap and shoulder belts in the front outboard positions and driver and passenger frontal impact air bags. The 26-year-old male driver (subject occupant 1) was using the belt restraint. It was also determined that the 24-year old front right seat female passenger (subject occupant 2) was not using her belt restraint based upon pre-hospital information. There was a second vehicle (V2, 1991 Ford Mustang, 2-door coupe) involved in the initial stages of the event sequence. V2 was traveling south to west on the connector ramp in the number-one lane, to V1's right and slightly behind at an undetermined speed. V1 and V2 were negotiating the right curve when the driver of V1 thought he saw a vehicle coming into his lane from the left (the vehicle was actually on an adjacent traffic way). The driver of V1 steered into the number-one lane (right), apparently not noticing V2 in the lane. The front left of V2 struck the right rear of V1. V1 began a clockwise yaw as it continued across the number-one lane and off of the right (north) roadside. V1 rotated clockwise and struck the chain-link fence with its left, and/or, front, damaging fifteen meters of it. V1 continued its trajectory and overturned (fall over) into the concrete drainage channel, landing first on its right roof rail. The vehicle overturned an approximated 14 quarter-turns on the concrete surface and most likely struck the opposite side upslope during the sequence. The vehicle came to rest on its top facing the opposite direction of its original path. V1 was towed due to disabling damage, V2 was not. Both occupants of V1, the driver (subject occupant 1) and the front right seat passenger (subject occupant 2) were transported to a trauma facility due to 'severe' injury as rated by police. |
This case involved an unbelted female driver responding to a full frontal impact with a large pickup and air bag deployment. This crash occurred on the southbound side of an eight-lane, north/south interstate. There were four lanes for travel in each direction divided by a paved median protected by a concrete barrier. The southbound lanes had a gradual left curve and a positive grade. The weather was rainy and the concrete roadway was wet during the early morning (dark-not lit), weekday crash. The case vehicle (V1, 2003 Mitsubishi Lancer, 4-door sedan) was traveling southbound in the number four-lane (left) at a police reported 105 kmph, up the slight grade and negotiating the left curve. V1 was equipped with lap and shoulder belts (front pretensioners) and driver and passenger frontal impact air bags. The 28-year-old female driver (subject/sole occupant) was not using the belt restraint. The opposing vehicle (V2, 2002 Chevrolet Silverado pickup, unknown specific model) was sitting disabled in the median facing north, or, opposite the direction of traffic, due to a previous crash with another vehicle. The driver of V2 had exited the vehicle and was standing on the right side of it, between the vehicle and the center divider. The driver of V1 related that a vehicle had passed her on the right and had splashed water onto her windshield. She could not see and felt that her vehicle began to slide off of the roadway to the left. V1 departed the roadway, left, into the median and the front of V1struck the front of V2 in a full frontal, head-on configuration. V1's air bags deployed. The front end of V1 shifted upward and exhibited an under ride crush pattern. The impact pushed V2 rearward where it struck the other disabled vehicle from the previous crash and the concrete center divider, trapping the V2 driver/pedestrian between V2's right side and the center divider. V1 continued forward and came to rest facing V2 (southbound) in the median. |
This case involved a belted, male driver responding to a left side impact with another passenger car traveling in the same direction. This crash occurred in the southbound lanes of a ten-lane, divided, north/south interstate. There were five lanes for travel in each direction divided by a paved median and concrete barrier. The west roadside had concrete barriers for construction purpose lined up close along the outside (number-one) lane edge. The concrete traffic way was straight and level. The weather was clear and the roadway dry during the mid-morning, weekday crash. The case vehicle (V1, 1999 Toyota RAV, 4-door utility vehicle) was traveling southbound in the number-one (right) lane at police reported (estimated) 69 kmph, intending to continue forward. V1 was equipped with lap and shoulder belts and driver and passenger frontal impact air bags. The 73-year-old, male driver (subject/sole occupant) was using the belt restraint. The opposing vehicle (V2, 2000 Oldsmobile Intrigue, 4-door sedan) was traveling southbound in the number-two lane at a police reported (estimated) 85 kmph, intending to continue forward and gaining on V1 from its left rear. The driver of V2 (sole occupant) was reported as belted. The 'morning rush hour' traffic had come to a stop ahead of V1 in the number-one lane. The driver applied his brakes and then swerved left, into the number-two lane and into the path of V2. The front right if V2 struck the left side of V1 in the area encompassing the back left door and wheel. The impact propelled V1 forward and to the right where it came to rest along the right shoulder/concrete barrier facing south. V2 came to rest south of the impact in the number-two lane facing south. Both vehicles were towed from the scene. The driver of V1 (subject) was not transported directly from the scene of the crash, having a 'complaint of pain' as rated by police. The driver of V2 was not reported as injured. |
This case involved an unbelted male driver responding to a frontal impact with a slower moving heavy truck with airbag deployment. This crash occurred in the southbound lanes of a multi-lane, divided interstate. There were six lanes of travel for southbound traffic divided from northbound traffic by a concrete barrier. The roadway had a slight right curvature and positive grade for southbound traffic. The weather was cloudy but the concrete roadway dry during the early morning (dark, not lit) weekday crash. The case vehicle (V1, 2003 Nissan 350Z, 3-door hatchback) was traveling southbound, uphill, in the number two lane at an unknown speed (moderately high, based on vehicle damage and interview). V1 was equipped with lap and shoulder belts (pretensioners) and driver and passenger frontal impact air bags. The 37-year-old male driver (subject, sole occupant) was not using the belt restraint. The opposing vehicle (V2, 1989 Peterbilt tractor pulling one trailer) was traveling southbound in the number two lane at a police reported (estimated) 40 kmph. V2 was transporting asphalt. The driver of V1 recalled that as he approached the slower moving vehicle he noticed a vehicle to his right merging onto the interstate. He diverted his attention and checked traffic to his left in consideration of changing lanes to that direction. When he looked back toward the roadway he was upon the truck. There was no physical evidence of an avoidance maneuver. The front of V1 struck the rear of V2 and under-rode the rear "bumper" (as described in the police report). V1's frontal impact air bags deployed. V1 continued forward a few meters as the truck/trailer continued southbound. V1 became dislodged from under V2 and came to rest in the number two lane facing southeast. V2 continued slowly to the right shoulder and came to a controlled stop. NOTE: Once the crash had stabilized (V1 at rest, V2 stopped on shoulder) another southbound vehicle struck the right rear quarter panel and wheel of V1 with its front plane. This subsequent, separate, event did not cause additional injury to the subject. V1 was towed from the scene due to disabling damage, V2 was driven away. The driver of V1 (subject) was transported to a trauma facility with 'severe' injuries, as rated by police. |
This case involved a belted female driver responding to a left side leading rollover sequence with frontal impact air bag deployment. |
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DiaVio Dataset
Overview
Simulation testing has been widely adopted by leading companies to ensure the safety of autonomous driving systems (ADSs). A number of scenario-based testing approaches have been developed to generate diverse driving scenarios for simulation testing, and demonstrated to be capable of finding safety violations. However, there is no automated way to diagnose whether these violations are caused by the ADS under test and which category these violations belong to. As a result, great effort is required to manually diagnose violations.
To bridge this gap, we propose DiaVio to automatically diagnose safety violations in simulation testing by leveraging large language models (LLMs). It is built on top of a new domain specific language (DSL) of crash to align real-world accident reports described in natural language and violation scenarios in simulation testing. DiaVio fine-tunes a base LLM with real-world accident reports to learn diagnosis capability, and uses the fine-tuned LLM to diagnose violation scenarios in simulation testing. Our evaluation has demonstrated the effectiveness and efficiency of DiaVio in violation diagnosis.
Dataset Contents
This dataset.zip comprises three main components:
1. Accident Reports
A collection of real-world accident reports described in natural language. These reports serve as the basis for fine-tuning the language model to enhance its diagnosis capability.
2. Extracted Information
Information extracted from the accident reports, including key details about the accidents. This data is used to train DiaVio and enable it to associate real-world accidents with simulation testing scenarios.
3. GroundTruth
The ground truth data, indicating the correct diagnosis for each violation scenario. This dataset helps evaluate the effectiveness and efficiency of DiaVio in diagnosing safety violations.
How to Use
Researchers and practitioners in the field of autonomous driving systems can utilize this dataset to:
- Train and fine-tune language models for safety violation diagnosis.
- Evaluate and compare the performance of different diagnostic systems.
- Enhance the capabilities of automated diagnosis tools in simulation testing.
Citation
If you use this dataset in your research or work, please cite our related publication.
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